Pseudolus is the clever slave of Simo and a trusted confidante to his master's son, Calidorus. Though legally property, he is highly intelligent and frequently outwits the free citizens around him. He takes it upon himself to devise a scheme to free Phoenicium for Calidorus without having any money or an initial plan.

Simo is an older Athenian citizen who is father to Calidorus and master to Pseudolus. He is aware of rumors that his son plans to swindle him out of money to buy a prostitute. Despite his status as a master, he often finds himself playing defense against Pseudolus's brazen wit.

Ballio is a cruel and money-obsessed pimp who owns Phoenicium. He treats his slaves with extreme brutality while prioritizing financial gain above all else. He happily admits to his own degenerate nature and easily brushes off insults thrown at him by enemies.

Calidorus is Simo's son, a young man hopelessly in love with the prostitute Phoenicium. He is melodramatic and largely inactive when it comes to solving his own problems. He relies entirely on his father's slave to rescue his lover from being sold to a soldier.

Harpax is the loyal slave of a Macedonian soldier, tasked with completing the purchase of Phoenicium. Unlike the tricksters in the play, he prides himself on his integrity and strict obedience to his master's orders. This rigid honesty makes him a prime target for deception.

Simia is the wickedly clever slave belonging to the family of Charinus. Recruited to impersonate Harpax, he is a fast-talking trickster who can easily manipulate his way out of bad situations. His devious nature earns him both the admiration and temporary fear of his fellow conspirators.

Phoenicium is a prostitute owned by Ballio and the object of Calidorus's intense affection. She is being sold to a Macedonian soldier, a fate that drives the entire plot of the play as others scramble to keep her in Athens. She remains silent when she appears on stage.

Callipho is an older citizen of Athens and a neighbor to Simo. He acts as a voice of moderation, advising his friend to remember his own youth and be less harsh regarding Calidorus's romantic misadventures.

Charinus is a reliable friend of Calidorus who steps in to assist with the plot against Ballio. He provides the crucial five minae needed to complete the fake transaction along with the devious slave necessary to pull off the disguise.